<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.9.1"/>
<title>SimpleRobot: model.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td style="padding-left: 0.5em;">
   <div id="projectname">SimpleRobot
   &#160;<span id="projectnumber">1.0</span>
   </div>
   <div id="projectbrief">简易四轴机器人动画</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.8.9.1 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'搜索');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>首页</span></a></li>
      <li><a href="pages.html"><span>相关页面</span></a></li>
      <li><a href="annotated.html"><span>类</span></a></li>
      <li class="current"><a href="files.html"><span>文件</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="搜索" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>文件列表</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_ecf8ca46b2885291d59feefec80b5002.html">robot</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">model.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef MODEL_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define MODEL_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;QVector&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;QMatrix4x4&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">struct </span><a class="code" href="struct_s_t_l_object.html">STLObject</a>;</div>
<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="class_model.html">    9</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_model.html">Model</a> : <span class="keyword">public</span> QObject</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;{</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    Q_OBJECT</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="keyword">struct </span>RobotData{</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        <span class="keywordtype">float</span> cur[4], target[4];</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        <span class="keywordtype">float</span> speed[4];</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <span class="keywordtype">int</span> directionFactor[4];</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;        <span class="keywordtype">int</span> direction[4];</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    };</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <a class="code" href="class_model.html#ae3b375de5f6df4faf74a95d64748e048">Model</a>();</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="class_model.html#ad6ebd2062a0b823db841a0b88baac4c0">~Model</a>();</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="class_model.html#a639d17254535dbda93359bed8722e6c7">   25</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a>{MASTER_ROTATE=0, ASSISTANT_ROTATE=1, BAR_ROTATE=2, BAR_MOVE=3};</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="class_model.html#a997cd2b5b12b228bfbcdc1829e75352b">   27</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="class_model.html#a997cd2b5b12b228bfbcdc1829e75352b">ModelType</a>{BASE=0, MASTER=1, ASSISTANT=2, BAR=3};</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">const</span> QVector&lt;float&gt; &amp;<a class="code" href="class_model.html#a7277e94b38e6f196f34499a3e9996348">getModelVerteces</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">const</span> QVector&lt;float&gt; &amp;<a class="code" href="class_model.html#ada3d4d3d12d9b59be940584df5231cf9">getModelNormals</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="class_model.html#afd605efc0857e7b3789981585e904196">   33</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_model.html#afd605efc0857e7b3789981585e904196">getModelVertecesNum</a>(<a class="code" href="class_model.html#a997cd2b5b12b228bfbcdc1829e75352b">ModelType</a> modelType)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> arrayV[modelType].size()/3; }</div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="class_model.html#a4f3fd5b3fc2b7eb384a43c5467dd61fd">   35</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_model.html#a4f3fd5b3fc2b7eb384a43c5467dd61fd">resetValue</a>()</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    {</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0; i&lt;4; ++i){</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            data.cur[i] = data.target[i] = 0;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;            data.speed[i] = defaultSpeed;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;            data.directionFactor[i] = 1;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;            data.direction[i] = 0;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        }</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        action_master.setToIdentity();</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        action_assistant.setToIdentity();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        action_bar.setToIdentity();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        action_bar_move.setToIdentity();</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="class_model.html#a6481ca1940a8fc95128fc599f984b53b">   49</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_model.html#a6481ca1940a8fc95128fc599f984b53b">CalcCurValue</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType, <span class="keywordtype">float</span> spendSeconds, <span class="keywordtype">bool</span> *reached)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">if</span>(data.cur[actionType]==data.target[actionType]){</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            <span class="keywordflow">if</span>(reached) *reached=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <span class="keywordflow">return</span> data.cur[actionType];</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">float</span> target = data.cur[actionType] + data.speed[actionType] * spendSeconds * data.direction[actionType];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        assert(data.speed[actionType]*spendSeconds&gt;=0);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordflow">if</span>((data.direction[actionType]&gt;0&amp;&amp;target&gt;data.target[actionType]) ||</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;           (data.direction[actionType]&lt;0&amp;&amp;target&lt;data.target[actionType])){</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="keywordflow">if</span>(reached) *reached = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            data.cur[actionType] = data.target[actionType];</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        }<span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            <span class="keywordflow">if</span>(reached) *reached = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;            data.cur[actionType] = target;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <a class="code" href="class_model.html#a2d2eb5dad350bc6c4e5c5c139c386962">setCurValue</a>(actionType, data.cur[actionType]);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordflow">return</span> data.cur[actionType];</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="class_model.html#a7546bab2ac5a2b61d0b67bf4037f47b1">   70</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_model.html#a7546bab2ac5a2b61d0b67bf4037f47b1">getCurValue</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordflow">return</span> data.cur[actionType];</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="class_model.html#a2d2eb5dad350bc6c4e5c5c139c386962">   75</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_model.html#a2d2eb5dad350bc6c4e5c5c139c386962">setCurValue</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType, <span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordflow">switch</span> (actionType) {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">case</span> MASTER_ROTATE:</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            action_master.setToIdentity();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            action_master.rotate(value, 0 ,1, 0);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">case</span> ASSISTANT_ROTATE:</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            action_assistant.setToIdentity();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            action_assistant.rotate(value, 0, 1, 0);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">case</span> BAR_ROTATE:</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            action_bar.setToIdentity();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            action_bar.rotate(value, 0, 1, 0);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">case</span> BAR_MOVE:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            action_bar_move.setToIdentity();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            action_bar_move.translate(0, value, 0);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            assert(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        data.cur[actionType] = value;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        data.direction[actionType] = sign(data.target[actionType] - data.cur[actionType]);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="class_model.html#a23de1d1474c165434da6062cc10f7b19">  103</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_model.html#a23de1d1474c165434da6062cc10f7b19">addCurValue</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType, <span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">switch</span> (actionType) {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">case</span> MASTER_ROTATE:</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            action_master.rotate(value, 0 ,1, 0);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">case</span> ASSISTANT_ROTATE:</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            action_assistant.rotate(value, 0, 1, 0);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">case</span> BAR_ROTATE:</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            action_bar.rotate(value, 0, 1, 0);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">case</span> BAR_MOVE:</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            action_bar_move.translate(0, value, 0);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            assert(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        data.cur[actionType]  += value;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        data.direction[actionType] = sign(data.target[actionType] - data.cur[actionType]);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="class_model.html#a988c677235850227b0282994e3fb1a48">  127</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_model.html#a988c677235850227b0282994e3fb1a48">setTargetValue</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType, <span class="keywordtype">float</span> angle, <span class="keywordtype">float</span> speed=-1)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        data.target[actionType] = angle;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordflow">if</span>(speed&gt;0&amp;&amp;speed&lt;=100){</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            data.speed[actionType] = speed * speedFactor;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;            data.direction[actionType] = sign(angle - data.cur[actionType]);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(speed==-1)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            data.direction[actionType] = sign(angle - data.cur[actionType]);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            assert(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="class_model.html#adb81699a23798935e5f5e83e804a8c3f">  143</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_model.html#adb81699a23798935e5f5e83e804a8c3f">setSpeed</a>(<a class="code" href="class_model.html#a639d17254535dbda93359bed8722e6c7">ActionType</a> actionType, <span class="keywordtype">float</span> speed)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">if</span>(speed&gt;0&amp;&amp;speed&lt;=100)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            data.speed[actionType] = speed * speedFactor;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    QMatrix4x4 matrix_base, matrix_master, matrix_assistant, matrix_bar;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    QMatrix4x4 action_master, action_assistant, action_bar, action_bar_move;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    QMatrix4x4 center_base, center_master, center_assistant, center_bar;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">int</span> sign(<span class="keywordtype">float</span> value) { <span class="keywordflow">return</span> value&gt;0?1:(value&lt;0?-1:0); }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">void</span> getVerteces(<a class="code" href="struct_s_t_l_object.html">STLObject</a> *obj, QVector&lt;float&gt; &amp;vertecs, QVector&lt;float&gt; &amp;normals);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">float</span> speedFactor;      </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">int</span> defaultSpeed;       </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    RobotData data;         </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <a class="code" href="struct_s_t_l_object.html">STLObject</a> *<span class="keywordtype">object</span>[4];   </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    QVector&lt;float&gt; arrayV[4], arrayN[4]; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    QVector&lt;float&gt; verteces, normals;    </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;};</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#endif // MODEL_H</span></div>
<div class="ttc" id="class_model_html_a7277e94b38e6f196f34499a3e9996348"><div class="ttname"><a href="class_model.html#a7277e94b38e6f196f34499a3e9996348">Model::getModelVerteces</a></div><div class="ttdeci">const QVector&lt; float &gt; &amp; getModelVerteces() const </div><div class="ttdoc">获取模型顶点 </div><div class="ttdef"><b>Definition:</b> model.cpp:56</div></div>
<div class="ttc" id="class_model_html"><div class="ttname"><a href="class_model.html">Model</a></div><div class="ttdoc">机器人数据模型 </div><div class="ttdef"><b>Definition:</b> model.h:9</div></div>
<div class="ttc" id="class_model_html_a639d17254535dbda93359bed8722e6c7"><div class="ttname"><a href="class_model.html#a639d17254535dbda93359bed8722e6c7">Model::ActionType</a></div><div class="ttdeci">ActionType</div><div class="ttdoc">动作类型 </div><div class="ttdef"><b>Definition:</b> model.h:25</div></div>
<div class="ttc" id="class_model_html_ada3d4d3d12d9b59be940584df5231cf9"><div class="ttname"><a href="class_model.html#ada3d4d3d12d9b59be940584df5231cf9">Model::getModelNormals</a></div><div class="ttdeci">const QVector&lt; float &gt; &amp; getModelNormals() const </div><div class="ttdoc">获取模型法向量 </div><div class="ttdef"><b>Definition:</b> model.cpp:61</div></div>
<div class="ttc" id="class_model_html_a997cd2b5b12b228bfbcdc1829e75352b"><div class="ttname"><a href="class_model.html#a997cd2b5b12b228bfbcdc1829e75352b">Model::ModelType</a></div><div class="ttdeci">ModelType</div><div class="ttdoc">模型部位 </div><div class="ttdef"><b>Definition:</b> model.h:27</div></div>
<div class="ttc" id="struct_s_t_l_object_html"><div class="ttname"><a href="struct_s_t_l_object.html">STLObject</a></div><div class="ttdoc">STL数据类 </div><div class="ttdef"><b>Definition:</b> stlparser.h:13</div></div>
<div class="ttc" id="class_model_html_afd605efc0857e7b3789981585e904196"><div class="ttname"><a href="class_model.html#afd605efc0857e7b3789981585e904196">Model::getModelVertecesNum</a></div><div class="ttdeci">unsigned int getModelVertecesNum(ModelType modelType) const </div><div class="ttdoc">获取模型顶点数目 </div><div class="ttdef"><b>Definition:</b> model.h:33</div></div>
<div class="ttc" id="class_model_html_adb81699a23798935e5f5e83e804a8c3f"><div class="ttname"><a href="class_model.html#adb81699a23798935e5f5e83e804a8c3f">Model::setSpeed</a></div><div class="ttdeci">bool setSpeed(ActionType actionType, float speed)</div><div class="ttdoc">设置运动速度 </div><div class="ttdef"><b>Definition:</b> model.h:143</div></div>
<div class="ttc" id="class_model_html_a988c677235850227b0282994e3fb1a48"><div class="ttname"><a href="class_model.html#a988c677235850227b0282994e3fb1a48">Model::setTargetValue</a></div><div class="ttdeci">bool setTargetValue(ActionType actionType, float angle, float speed=-1)</div><div class="ttdoc">设置目标位置 </div><div class="ttdef"><b>Definition:</b> model.h:127</div></div>
<div class="ttc" id="class_model_html_a23de1d1474c165434da6062cc10f7b19"><div class="ttname"><a href="class_model.html#a23de1d1474c165434da6062cc10f7b19">Model::addCurValue</a></div><div class="ttdeci">bool addCurValue(ActionType actionType, float value)</div><div class="ttdoc">对当前位置添加指定的值 </div><div class="ttdef"><b>Definition:</b> model.h:103</div></div>
<div class="ttc" id="class_model_html_a2d2eb5dad350bc6c4e5c5c139c386962"><div class="ttname"><a href="class_model.html#a2d2eb5dad350bc6c4e5c5c139c386962">Model::setCurValue</a></div><div class="ttdeci">bool setCurValue(ActionType actionType, float value)</div><div class="ttdoc">设置当前位置 </div><div class="ttdef"><b>Definition:</b> model.h:75</div></div>
<div class="ttc" id="class_model_html_ad6ebd2062a0b823db841a0b88baac4c0"><div class="ttname"><a href="class_model.html#ad6ebd2062a0b823db841a0b88baac4c0">Model::~Model</a></div><div class="ttdeci">~Model()</div><div class="ttdoc">A destructor. </div><div class="ttdef"><b>Definition:</b> model.cpp:51</div></div>
<div class="ttc" id="class_model_html_a4f3fd5b3fc2b7eb384a43c5467dd61fd"><div class="ttname"><a href="class_model.html#a4f3fd5b3fc2b7eb384a43c5467dd61fd">Model::resetValue</a></div><div class="ttdeci">void resetValue()</div><div class="ttdoc">重置机器人位置 </div><div class="ttdef"><b>Definition:</b> model.h:35</div></div>
<div class="ttc" id="class_model_html_ae3b375de5f6df4faf74a95d64748e048"><div class="ttname"><a href="class_model.html#ae3b375de5f6df4faf74a95d64748e048">Model::Model</a></div><div class="ttdeci">Model()</div><div class="ttdoc">A constructor. </div><div class="ttdef"><b>Definition:</b> model.cpp:4</div></div>
<div class="ttc" id="class_model_html_a6481ca1940a8fc95128fc599f984b53b"><div class="ttname"><a href="class_model.html#a6481ca1940a8fc95128fc599f984b53b">Model::CalcCurValue</a></div><div class="ttdeci">float CalcCurValue(ActionType actionType, float spendSeconds, bool *reached)</div><div class="ttdoc">计算指定部位当前位置 </div><div class="ttdef"><b>Definition:</b> model.h:49</div></div>
<div class="ttc" id="class_model_html_a7546bab2ac5a2b61d0b67bf4037f47b1"><div class="ttname"><a href="class_model.html#a7546bab2ac5a2b61d0b67bf4037f47b1">Model::getCurValue</a></div><div class="ttdeci">float getCurValue(ActionType actionType)</div><div class="ttdoc">获取当前位置 </div><div class="ttdef"><b>Definition:</b> model.h:70</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
生成于 2015年 四月 11日 星期六 16:06:06 , 为 SimpleRobot使用  &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.9.1
</small></address>
</body>
</html>
